ardupilot/libraries/AP_Motors/AP_MotorsMatrix.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file AP_MotorsMatrix.h
/// @brief Motor control class for Matrixcopters
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#ifndef __AP_MOTORS_MATRIX_H__
#define __AP_MOTORS_MATRIX_H__
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel.h> // RC Channel Library
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#include "AP_Motors_Class.h"
#define AP_MOTORS_MATRIX_MOTOR_UNDEFINED -1
#define AP_MOTORS_MATRIX_ORDER_UNDEFINED -1
#define AP_MOTORS_MATRIX_MOTOR_CW -1
#define AP_MOTORS_MATRIX_MOTOR_CCW 1
#define AP_MOTORS_MATRIX_YAW_LOWER_LIMIT_PWM 100
/// @class AP_MotorsMatrix
class AP_MotorsMatrix : public AP_Motors {
public:
/// Constructor
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AP_MotorsMatrix( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
_num_motors(0) {
};
// init
virtual void Init();
// set update rate to motors - a value in hertz
// you must have setup_motors before calling this
virtual void set_update_rate( uint16_t speed_hz );
// set frame orientation (normally + or X)
virtual void set_frame_orientation( uint8_t new_orientation );
// enable - starts allowing signals to be sent to motors
virtual void enable();
// get basic information about the platform
virtual uint8_t get_num_motors() {
return _num_motors;
};
// motor test
virtual void output_test();
// output_min - sends minimum values out to the motors
virtual void output_min();
// add_motor using just position and prop direction
virtual void add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
// remove_motor
virtual void remove_motor(int8_t motor_num);
// remove_all_motors - removes all motor definitions
virtual void remove_all_motors();
// setup_motors - configures the motors for a given frame type - should be overwritten by child classes
virtual void setup_motors() {
remove_all_motors();
};
// matrix
AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
protected:
// output - sends commands to the motors
virtual void output_armed();
virtual void output_disarmed();
// add_motor using raw roll, pitch, throttle and yaw factors
virtual void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled
float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)
};
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#endif // AP_MOTORSMATRIX